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<div class="title">extract_labeled_clusters.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_EXTRACT_LABELED_CLUSTERS_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  extractLabeledEuclideanClusters (</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> boost::shared_ptr&lt;search::Search&lt;PointT&gt; &gt; &amp;tree, </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keywordtype">float</span> tolerance, std::vector&lt;std::vector&lt;PointIndices&gt; &gt; &amp;labeled_clusters, </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_pts_per_cluster = 1, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_pts_per_cluster = std::numeric_limits&lt;unsigned int&gt;::max (), </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_label = std::numeric_limits&lt;unsigned int&gt;::max ());</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html">   71</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html">LabeledEuclideanClusterExtraction</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_p_c_l_base.html">BasePCLBase</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> PointIndices::Ptr PointIndicesPtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> PointIndices::ConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#aeb0c842737e6f8550acec449c91e24e2">   88</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#aeb0c842737e6f8550acec449c91e24e2">LabeledEuclideanClusterExtraction</a> () : </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a23bdf23e935eb2f25a1352fe38c7bee0">tree_</a> (), </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a289a8169284944c230d7e588263c4a3c">cluster_tolerance_</a> (0),</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6b0a6d20b2b191bb468b5d5beff8780f">min_pts_per_cluster_</a> (1), </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ade70ef080f7e5643db57aec94d244d9b">max_pts_per_cluster_</a> (std::numeric_limits&lt;int&gt;::max ()),</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1528fcb916b7415cbb1d3372c4465913">max_label_</a> (std::numeric_limits&lt;int&gt;::max ())</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {};</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#afd57eb803891a081f460d17b2c7be311">  100</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#afd57eb803891a081f460d17b2c7be311">setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr &amp;tree) { <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a23bdf23e935eb2f25a1352fe38c7bee0">tree_</a> = tree; }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">inline</span> KdTreePtr </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ac3d236a3f8969199c577b0c421a3b759">  104</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ac3d236a3f8969199c577b0c421a3b759">getSearchMethod</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a23bdf23e935eb2f25a1352fe38c7bee0">tree_</a>); }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1641a63140b5c97d1785cf8c941be2df">  110</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1641a63140b5c97d1785cf8c941be2df">setClusterTolerance</a> (<span class="keywordtype">double</span> tolerance) { <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a289a8169284944c230d7e588263c4a3c">cluster_tolerance_</a> = tolerance; }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a7c6d5852fb2186f2cc2ccc7a814639e7">  114</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a7c6d5852fb2186f2cc2ccc7a814639e7">getClusterTolerance</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a289a8169284944c230d7e588263c4a3c">cluster_tolerance_</a>); }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a39085522e8146e56aa78f5185207196c">  120</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a39085522e8146e56aa78f5185207196c">setMinClusterSize</a> (<span class="keywordtype">int</span> min_cluster_size) { <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6b0a6d20b2b191bb468b5d5beff8780f">min_pts_per_cluster_</a> = min_cluster_size; }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#acb53f18aef735b55743157db821fedf5">  124</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#acb53f18aef735b55743157db821fedf5">getMinClusterSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6b0a6d20b2b191bb468b5d5beff8780f">min_pts_per_cluster_</a>); }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ae0b2bdc18179d4f305ed82386bca5387">  130</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ae0b2bdc18179d4f305ed82386bca5387">setMaxClusterSize</a> (<span class="keywordtype">int</span> max_cluster_size) { <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ade70ef080f7e5643db57aec94d244d9b">max_pts_per_cluster_</a> = max_cluster_size; }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a56228dc8fb7406a32510ac5195973731">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a56228dc8fb7406a32510ac5195973731">getMaxClusterSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ade70ef080f7e5643db57aec94d244d9b">max_pts_per_cluster_</a>); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6aae8ef0233f3dd0fe43b5f189f5e6c4">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6aae8ef0233f3dd0fe43b5f189f5e6c4">setMaxLabels</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_label) { <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1528fcb916b7415cbb1d3372c4465913">max_label_</a> = max_label; }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a9122e13096a81db388ceff0f133406bd">  144</a></span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a9122e13096a81db388ceff0f133406bd">getMaxLabels</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1528fcb916b7415cbb1d3372c4465913">max_label_</a>); }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a5228a97635de376020eeb7a22a1a7836">extract</a> (std::vector&lt;std::vector&lt;PointIndices&gt; &gt; &amp;labeled_clusters);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="comment">// Members derived from the base class</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">BasePCLBase::input_</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">BasePCLBase::indices_</a>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">BasePCLBase::initCompute</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">BasePCLBase::deinitCompute</a>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a23bdf23e935eb2f25a1352fe38c7bee0">  160</a></span>&#160;      KdTreePtr <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a23bdf23e935eb2f25a1352fe38c7bee0">tree_</a>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a289a8169284944c230d7e588263c4a3c">  163</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a289a8169284944c230d7e588263c4a3c">cluster_tolerance_</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6b0a6d20b2b191bb468b5d5beff8780f">  166</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6b0a6d20b2b191bb468b5d5beff8780f">min_pts_per_cluster_</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ade70ef080f7e5643db57aec94d244d9b">  169</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ade70ef080f7e5643db57aec94d244d9b">max_pts_per_cluster_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1528fcb916b7415cbb1d3372c4465913">  172</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1528fcb916b7415cbb1d3372c4465913">max_label_</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#aa9302538f46cbb80a2a21908b46f5c10">  175</a></span>&#160;      <span class="keyword">virtual</span> std::string <a class="code" href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#aa9302538f46cbb80a2a21908b46f5c10">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;LabeledEuclideanClusterExtraction&quot;</span>); }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  };</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    compareLabeledPointClusters (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;a, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;b)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">return</span> (a.indices.size () &lt; b.indices.size ());</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;}</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/extract_labeled_clusters.hpp&gt;</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_EXTRACT_LABELED_CLUSTERS_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html">pcl::LabeledEuclideanClusterExtraction</a></div><div class="ttdoc">LabeledEuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclid...</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a1528fcb916b7415cbb1d3372c4465913"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1528fcb916b7415cbb1d3372c4465913">pcl::LabeledEuclideanClusterExtraction::max_label_</a></div><div class="ttdeci">unsigned int max_label_</div><div class="ttdoc">The maximum number of labels we can find in this pointcloud (default = MAXINT)</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a1641a63140b5c97d1785cf8c941be2df"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a1641a63140b5c97d1785cf8c941be2df">pcl::LabeledEuclideanClusterExtraction::setClusterTolerance</a></div><div class="ttdeci">void setClusterTolerance(double tolerance)</div><div class="ttdoc">Set the spatial cluster tolerance as a measure in the L2 Euclidean space</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a23bdf23e935eb2f25a1352fe38c7bee0"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a23bdf23e935eb2f25a1352fe38c7bee0">pcl::LabeledEuclideanClusterExtraction::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a289a8169284944c230d7e588263c4a3c"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a289a8169284944c230d7e588263c4a3c">pcl::LabeledEuclideanClusterExtraction::cluster_tolerance_</a></div><div class="ttdeci">double cluster_tolerance_</div><div class="ttdoc">The spatial cluster tolerance as a measure in the L2 Euclidean space.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a39085522e8146e56aa78f5185207196c"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a39085522e8146e56aa78f5185207196c">pcl::LabeledEuclideanClusterExtraction::setMinClusterSize</a></div><div class="ttdeci">void setMinClusterSize(int min_cluster_size)</div><div class="ttdoc">Set the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a5228a97635de376020eeb7a22a1a7836"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a5228a97635de376020eeb7a22a1a7836">pcl::LabeledEuclideanClusterExtraction::extract</a></div><div class="ttdeci">void extract(std::vector&lt; std::vector&lt; PointIndices &gt; &gt; &amp;labeled_clusters)</div><div class="ttdoc">Cluster extraction in a PointCloud given by &lt;setInputCloud (), setIndices ()&gt;</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a56228dc8fb7406a32510ac5195973731"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a56228dc8fb7406a32510ac5195973731">pcl::LabeledEuclideanClusterExtraction::getMaxClusterSize</a></div><div class="ttdeci">int getMaxClusterSize() const</div><div class="ttdoc">Get the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a6aae8ef0233f3dd0fe43b5f189f5e6c4"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6aae8ef0233f3dd0fe43b5f189f5e6c4">pcl::LabeledEuclideanClusterExtraction::setMaxLabels</a></div><div class="ttdeci">void setMaxLabels(unsigned int max_label)</div><div class="ttdoc">Set the maximum number of labels in the cloud.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a6b0a6d20b2b191bb468b5d5beff8780f"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a6b0a6d20b2b191bb468b5d5beff8780f">pcl::LabeledEuclideanClusterExtraction::min_pts_per_cluster_</a></div><div class="ttdeci">int min_pts_per_cluster_</div><div class="ttdoc">The minimum number of points that a cluster needs to contain in order to be considered valid (default...</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a7c6d5852fb2186f2cc2ccc7a814639e7"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a7c6d5852fb2186f2cc2ccc7a814639e7">pcl::LabeledEuclideanClusterExtraction::getClusterTolerance</a></div><div class="ttdeci">double getClusterTolerance() const</div><div class="ttdoc">Get the spatial cluster tolerance as a measure in the L2 Euclidean space.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_a9122e13096a81db388ceff0f133406bd"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#a9122e13096a81db388ceff0f133406bd">pcl::LabeledEuclideanClusterExtraction::getMaxLabels</a></div><div class="ttdeci">unsigned int getMaxLabels() const</div><div class="ttdoc">Get the maximum number of labels</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:144</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_aa9302538f46cbb80a2a21908b46f5c10"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#aa9302538f46cbb80a2a21908b46f5c10">pcl::LabeledEuclideanClusterExtraction::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdoc">Class getName method.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:175</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_ac3d236a3f8969199c577b0c421a3b759"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ac3d236a3f8969199c577b0c421a3b759">pcl::LabeledEuclideanClusterExtraction::getSearchMethod</a></div><div class="ttdeci">KdTreePtr getSearchMethod() const</div><div class="ttdoc">Get a pointer to the search method used.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_acb53f18aef735b55743157db821fedf5"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#acb53f18aef735b55743157db821fedf5">pcl::LabeledEuclideanClusterExtraction::getMinClusterSize</a></div><div class="ttdeci">int getMinClusterSize() const</div><div class="ttdoc">Get the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_ade70ef080f7e5643db57aec94d244d9b"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ade70ef080f7e5643db57aec94d244d9b">pcl::LabeledEuclideanClusterExtraction::max_pts_per_cluster_</a></div><div class="ttdeci">int max_pts_per_cluster_</div><div class="ttdoc">The maximum number of points that a cluster needs to contain in order to be considered valid (default...</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_ae0b2bdc18179d4f305ed82386bca5387"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#ae0b2bdc18179d4f305ed82386bca5387">pcl::LabeledEuclideanClusterExtraction::setMaxClusterSize</a></div><div class="ttdeci">void setMaxClusterSize(int max_cluster_size)</div><div class="ttdoc">Set the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_aeb0c842737e6f8550acec449c91e24e2"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#aeb0c842737e6f8550acec449c91e24e2">pcl::LabeledEuclideanClusterExtraction::LabeledEuclideanClusterExtraction</a></div><div class="ttdeci">LabeledEuclideanClusterExtraction()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:88</div></div>
<div class="ttc" id="aclasspcl_1_1_labeled_euclidean_cluster_extraction_html_afd57eb803891a081f460d17b2c7be311"><div class="ttname"><a href="classpcl_1_1_labeled_euclidean_cluster_extraction.html#afd57eb803891a081f460d17b2c7be311">pcl::LabeledEuclideanClusterExtraction::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> extract_labeled_clusters.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_aaee847c8a517ebf365bad2cb182a6626"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">pcl::PCLBase::indices_</a></div><div class="ttdeci">IndicesPtr indices_</div><div class="ttdoc">A pointer to the vector of point indices to use.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_acceb20854934f4cf77e266eb5a44d4f0"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:139</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_afc426c4eebb94b7734d4fa556bff1420"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">pcl::PCLBase::deinitCompute</a></div><div class="ttdeci">bool deinitCompute()</div><div class="ttdoc">This method should get called after finishing the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:174</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class. All search wrappers must inherit from this.</div><div class="ttdef"><b>Definition:</b> search.h:75</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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